CN107414809A - A kind of mechanical arm - Google Patents
A kind of mechanical arm Download PDFInfo
- Publication number
- CN107414809A CN107414809A CN201710480042.3A CN201710480042A CN107414809A CN 107414809 A CN107414809 A CN 107414809A CN 201710480042 A CN201710480042 A CN 201710480042A CN 107414809 A CN107414809 A CN 107414809A
- Authority
- CN
- China
- Prior art keywords
- drive mechanism
- gear frame
- mechanical arm
- motor
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The present invention is applied to mechanical equipment technical field, there is provided a kind of mechanical arm, including connector and six drive mechanisms.Wherein, the 4th drive mechanism includes motor, horizontal bevel gear, vertical bevel gear, output and spring, and spring stress is extruded and compressed, acted on after the connector that its elastic force passes through mechanical arm tail end on object.The mechanical arm of the present invention, has six-freedom degree, and being fixed on the device of mechanical arm tail end can neatly rotate in three dimensions, moves and position.Simultaneously, the active force exported by flexible actuator is flexible, when the device of mechanical arm tail end is acted on human body, spring in flexible actuator can play cushioning effect, avoid device and produce hard collision with human body, so the active force of flexible actuator output has flexibility, human comfort height；When mechanical arm is applied to carry product, it can also prevent the fixture for being installed on mechanical arm tail end from hard collision occurs with product and damages product.
Description
Technical field
The invention belongs to mechanical equipment technical field, more particularly to a kind of mechanical arm with flexible actuator.
Background technology
Mechanical arm is the automated machine device that most broad practice is obtained in robot technical field, is made in industry
Make, the field such as therapeutic treatment can see its figure.Although their form is had nothing in common with each other, they have one it is common
It feature, can exactly receive instruction, be precisely positioned to the certain point of three-dimensional (or two dimension) spatially and carry out operation.
Current mechanical arm is bulky, and weight is big, is led in the field that some need to act on human body, such as Medical Devices
Domain, existing mechanical arm flexibility ratio deficiency, medical effect is bad, and lacks when acting on human body flexible, and human comfort is low.
Thus, it is necessary to research and develop, a kind of flexibility ratio is high, and the mechanical arm with flexible active force.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of mechanical arm, it is intended to solve mechanical arm of the prior art
Flexibility ratio deficiency, and the problem of lack flexibility.
The present invention is achieved in that a kind of mechanical arm, including connector positioned at the mechanical arm bottom, described in driving
The second drive mechanism that the first drive mechanism that connector rotates about the z axis, driving first drive mechanism rotates around X-axis, drive
Move the 3rd drive mechanism, driving the 3rd drive mechanism that second drive mechanism rotates about the z axis rotate around X-axis the 4th
The 5th drive mechanism and driving the 5th drive mechanism that drive mechanism, driving the 4th drive mechanism rotate around X-axis
The 6th drive mechanism rotated about the z axis；6th drive mechanism is fixed on exterior object；
4th drive mechanism include the 4th motor, horizontal bevel gear, vertical bevel gear, output, the first spring with
And second spring；The horizontal bevel gear coaxially couples with the output shaft of the 4th motor, the horizontal bevel gear with it is described
Vertical bevel gear intermeshing；The output is fixedly connected with the vertical bevel gear；Offered on the vertical bevel gear
Two symmetrical first loose slots and the second loose slot, be provided with the top of the output two symmetrical first necks with
And second neck, first spring, second spring are placed in first neck and the second neck respectively, described first
Spring, the both ends of second spring protrude out the stop part for limiting own activity scope, the resistance of first both ends of the spring
The cell wall at the first loose slot both ends described in stopper energy top pressure, the second activity described in the stop part energy top pressure at the second spring both ends
The cell wall at groove both ends.
Further, the 4th drive mechanism also includes belt pulley, belt and holding device, the belt pulley and institute
State vertical bevel gear to be fixedly and coaxially connected, the belt is wound on the belt pulley and holding device.
Further, the 6th drive mechanism includes the 6th motor, rotating disk and the 6th gear frame, the rotating disk and institute
The output shaft for stating the 6th motor is fixedly connected, and the top of the 6th gear frame is fixedly connected with the rotating disk.
Further, the 5th drive mechanism includes horizontally disposed 5th motor and the 5th gear frame, and described
Five motors are installed on the 6th gear frame, and the 5th gear frame is fixedly connected with the output shaft of the 5th motor.
Further, the 4th motor is fixed on the 5th gear frame, the holding device include hold out against wheel with
And fixing axle, the fixing axle are fixed on the 5th gear frame, the wheel that holds out against revolvably is sheathed on the fixing axle
On.
Further, the 4th drive mechanism also includes the 4th gear frame and rotating shaft, the rotating shaft with it is described vertical
Bevel gear is fixedly connected, and the rotating shaft is rotatably fed through the bottom of the 5th gear frame, and with the 4th gear frame
Top be fixedly connected；Top of the output also with the 4th gear frame is fixedly connected.
Further, the 3rd drive mechanism includes vertically arranged the 3rd motor and the 3rd gear frame, and described
Three motors are fixed on the bottom of the 4th gear frame, and the output shaft of the 3rd gear frame and the 3rd motor fixes company
Connect.
Further, second drive mechanism includes horizontally disposed second motor and the second gear frame, and described
Two gear frames are located at the lower section of the 3rd gear frame；Second gear frame has the second mounting groove, and second motor is consolidated
Loaded in second mounting groove, the output shaft of second motor passes a cell wall of second mounting groove for Dingan County, and with
3rd gear frame is fixedly connected, and the second through hole, the 3rd transmission are offered on another cell wall of second mounting groove
The second projection is extended in the position that frame corresponds to second through hole, and second projection is stretched into second through hole.
Further, first drive mechanism includes the first vertically arranged motor, and first motor is fixed on institute
The bottom of the second gear frame is stated, the output shaft of first motor is fixedly connected with the connector.
Compared with prior art, beneficial effect is the present invention：The mechanical arm of the present invention, has six-freedom degree, installs
Being fixed on the device of mechanical arm tail end can neatly rotate in three dimensions, moves and position.Meanwhile mechanical arm has
Flexible actuator, the active force exported by flexible actuator is flexible, when the device of mechanical arm tail end is acted on human body
When, the spring in flexible actuator can play cushioning effect, avoid device and produce hard collision with human body, so, it is flexible
The active force of driver output has flexibility, human comfort height；When mechanical arm is applied to carry product, can also prevent from installing
Hard collision occurs with product in the fixture of mechanical arm tail end and damages product.
Brief description of the drawings
One or more embodiments are illustrative by the picture in corresponding accompanying drawing, these exemplary theorys
The bright restriction not formed to embodiment, the element for having same reference numbers label in accompanying drawing are expressed as similar element, removed
Non- have a special statement, and composition does not limit the figure in accompanying drawing.
Fig. 1 is a kind of dimensional structure diagram of mechanical arm provided in an embodiment of the present invention；
Fig. 2 is the dimensional structure diagram of another angle of mechanical arm shown in Fig. 1；
Fig. 3 is the dimensional structure diagram of the flexible actuator in mechanical arm shown in Fig. 1；
Fig. 4 is the decomposition texture schematic diagram of flexible actuator shown in Fig. 3；
Fig. 5 is the schematic diagram that flexible actuator shown in Fig. 3 produces flexible active force.
Embodiment
In order that technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Drawings and Examples are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
Fig. 1 and Fig. 2 is referred to, for the preferred embodiment of the present invention, there is provided a kind of mechanical arm, including positioned at machinery
The connector 10 of arm bottom, the first drive mechanism, the second drive mechanism, the 3rd drive mechanism, the 4th drive mechanism, the 5th driving
Mechanism and the 6th drive mechanism.
Wherein, the first drive mechanism drive connection part 10 rotates about the z axis, the second drive mechanism drive the first drive mechanism around
X-axis rotates, and the 3rd drive mechanism drives the second drive mechanism to rotate about the z axis, and the 4th drive mechanism drives the 3rd drive mechanism around X
Axle rotates, and the 5th drive mechanism drives the 4th drive mechanism to be rotated around X-axis, and the 6th drive mechanism drives the 5th drive mechanism around Z
Axle is rotated, and the 6th drive mechanism is fixed on support 200 or other exterior objects, for treating the device installation of either clamping
In on connector 10, so that manipulator carries out related operation to human body or product.
Below, it will be described in the concrete structure of the mechanical arm with six-freedom degree of the present embodiment and worked
Journey.
Above-mentioned 6th drive mechanism includes the 6th motor 61, rotating disk (not shown) and the 6th gear frame 62.It is described
Rotating disk is fixedly connected with the output shaft of the 6th motor 61, and the top of the 6th gear frame 62 is fixedly connected with rotating disk.6th motor 61
During work, its output shaft drives rotating disk to turn about the Z axis certain angle, and is fixed on the 6th gear frame 62 below rotating disk and also follows
Rotate identical angle.
Above-mentioned 5th drive mechanism includes horizontally disposed 5th motor 51 and the 5th gear frame 52, the 5th motor
51 are installed on the 6th gear frame 62, and the 5th gear frame 52 is fixedly connected with the output shaft of the 5th motor 51.6th transmission
Frame 62 rotates, and drives the position of the 5th motor 51 and the 5th gear frame 52 to change, and when the 5th motor 51 rotates, drives the
Five gear frames 52 turn about the X axis.
Fig. 3 and Fig. 4 is referred to, above-mentioned 4th drive mechanism is flexible actuator, and it includes the 4th motor 41, horizontal cone tooth
Wheel 42, vertical bevel gear 43, output 44, belt pulley 45, belt 46, holding device 47, the 4th gear frame 48, rotating shaft 49, the
One spring 40a and second spring 40b.
The horizontal bevel gear 42 coaxially couples with the output shaft of the 4th motor 41, horizontal bevel gear 42 and vertical cone
Gear 43 is intermeshed；The output 44 is fixedly connected with vertical bevel gear 43.Offered on vertical bevel gear 43 two it is right
The first loose slot and the second loose slot claimed, the top of output 44 are provided with two symmetrical first necks and the second card
Groove, the first spring 40a, second spring 40b are placed in the first neck and the second neck respectively.First spring 40a both ends
The stop part 401a for limiting its own scope of activities is protruded out, second spring 40b both ends are protruded out for limiting it certainly
The stop part 401b of body scope of activities；Stop part 401a difference energy the first loose slots of top pressure both ends at the first spring 40a both ends
Cell wall；The cell wall at stop part 401b difference energy the second loose slots of top pressure both ends at second spring 40b both ends.
The belt pulley 45 is fixedly and coaxially connected with vertical bevel gear 43, and belt 46 is wound on belt pulley 45 and holds out against dress
Put on 47.4th motor 41 is fixed on the 5th gear frame 52.The holding device 47 includes holding out against wheel 471 and fixed
Axle 472, the fixing axle 472 are fixed on the 5th gear frame 52, it is described hold out against wheel 471 be revolvably sheathed on it is described solid
On dead axle 472.The rotating shaft 49 is fixedly connected with the vertical bevel gear 43, and the rotating shaft 49 is rotatably fed through described the
The bottom of five gear frames 52, and be fixedly connected with the top of the 4th gear frame 48, the output 44 is also driven with the 4th
The top of frame 48 is fixedly connected.
When 4th motor 41 works, horizontal bevel gear 42 turns about the X axis, and it directly drives the vertical bevel gear engaged
43 turn about the X axis, and when vertical bevel gear 43 rotates, connected output 44 and rotating shaft 49 rotate, and drive the 4th to pass
Moving frame 48 rotates.When being rotated due to vertical bevel gear 43, connected belt pulley 45 by belt 46 constraint, so, can
The 4th gear frame 48 is played the effect of an elastics wing, when mechanical arm contacts with object, can further play buffering
Effect.
On the other hand, in addition to by swinging help mechanical arm positioning, it can also be controlled the flexible actuator of the present embodiment
Or the power of adjusting mechanical arm in different sizes is acted on object (including human body or product).
Fig. 5 is referred to, the swing angle and swaying direction of vertical bevel gear 43 are controlled by the 4th motor 41, when vertical cone
When the past clockwise direction of gear 43 is swung, cell wall 431 the first spring of the top pressure 40a, the first spring 40a of its first loose slot end
Stress is extruded and compressed, and thing is acted on after the connector that the elastic force of the first spring 40a under compressive state passes through mechanical arm tail end
On body, so, by controlling 41 past angular dimension rotationally clockwise of the 4th motor, the first spring 40a pressure can be controlled
Contracting amount；Because the first spring 40a different compressions can produce different size of pressure to output 44, (decrement is bigger, pressure
Power is bigger), so, extrude the one of object by the power of the flexible actuator energy control machinery arm of the present embodiment in different sizes
Side.Similarly, the motor 41 of control the 4th toward different angles is rotated in an anti-clockwise direction, squeeze by the controllable power of mechanical arm in different sizes
Press the opposite side of object.
Above-mentioned 3rd drive mechanism includes vertically arranged the 3rd motor 31 and the 3rd gear frame 32, the 3rd motor
31 are fixed on the bottom of the 4th gear frame 48, and the 3rd gear frame 32 is fixedly connected with the output shaft of the 3rd motor 31.
When 3rd motor 31 works, the 3rd gear frame 32 is driven to turn about the Z axis.
Second drive mechanism includes the horizontally disposed gear frame 22 of second motor 21 and second, the second gear frame 22
Positioned at the lower section of the 3rd gear frame 32；Second gear frame 22 has the second mounting groove 231, and the second motor 21 is fixedly installed in
In second mounting groove 231, the output shaft of the second motor 21 passes a cell wall of the second mounting groove 231, and with the 3rd gear frame 32
It is fixedly connected, the rotation of the 3rd gear frame 32, drives the change in location of the second motor 21 and the second gear frame 22.Second motor
During 21 work, the second gear frame 22 turns about the X axis.The second through hole 232, institute are offered on another cell wall of second mounting groove 231
The second projection 321 is extended in the position that the 3rd gear frame 32 is stated corresponding to second through hole 232, and second projection 321 is stretched
Enter in second through hole 232, so as to which the second projection 321 can play support the second motor 21 below, the second mounting seat 23
And second gear frame 22 effect.
First drive mechanism includes the first vertically arranged motor 11, and first motor 11 is fixed on described second
The bottom of gear frame 22, the output shaft of first motor 11 are fixedly connected with connector 10.When first motor 11 works, drive
Connector 10 rotates.So by the mutual driving of each drive mechanism, connector 10 and connected device can be made three
The position of needs is first moved in dimension space, then applies accurately active force in local location and direction again.
The mechanical arm of the present embodiment, there is six-freedom degree, the device for being fixed on mechanical arm tail end can be in three-dimensional
Neatly rotated in space, mobile and positioning.Meanwhile mechanical arm has flexible actuator, exported by flexible actuator
Active force is flexible, and when the device of mechanical arm tail end is acted on human body, the spring in flexible actuator can play slow
Punching acts on, and avoids device and produces hard collision with human body, so, the active force of flexible actuator output has flexibility, human body
Comfort level is high；When mechanical arm is applied to carry product, it is hard also to prevent that the fixture for being installed on mechanical arm tail end from occurring with product
Property collision and damage product.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (9)
1. a kind of mechanical arm, it is characterised in that including the connector positioned at the mechanical arm bottom, the driving connector around Z
The second drive mechanism that the first drive mechanism, driving first drive mechanism of axle rotation rotates around X-axis, drive described second
The 4th drive mechanism that the 3rd drive mechanism that drive mechanism rotates about the z axis, driving the 3rd drive mechanism rotate around X-axis,
Drive the 5th drive mechanism and drive the 5th drive mechanism to rotate about the z axis that the 4th drive mechanism rotates around X-axis
The 6th drive mechanism；6th drive mechanism is fixed on exterior object；
4th drive mechanism includes the 4th motor, horizontal bevel gear, vertical bevel gear, output, the first spring and the
Two springs；The horizontal bevel gear coaxially couples with the output shaft of the 4th motor, the horizontal bevel gear with it is described vertical
Bevel gear is intermeshed；The output is fixedly connected with the vertical bevel gear；Two are offered on the vertical bevel gear
Symmetrical first loose slot and the second loose slot, two symmetrical first necks and are provided with the top of the output
Two draw-in groove, first spring, second spring are placed in first neck and the second neck respectively, first bullet
Spring, the both ends of second spring protrude out the stop part for limiting own activity scope, the stop of first both ends of the spring
The cell wall at the first loose slot both ends, the second loose slot described in the stop part energy top pressure at the second spring both ends described in portion's energy top pressure
The cell wall at both ends.
2. mechanical arm as claimed in claim 1, it is characterised in that the 4th drive mechanism also include belt pulley, belt with
And holding device, the belt pulley are fixedly and coaxially connected with the vertical bevel gear, the belt be wound on the belt pulley with
And on holding device.
3. mechanical arm as claimed in claim 1, it is characterised in that the 6th drive mechanism include the 6th motor, rotating disk with
And the 6th gear frame, the rotating disk are fixedly connected with the output shaft of the 6th motor, the top of the 6th gear frame and institute
Rotating disk is stated to be fixedly connected.
4. mechanical arm as claimed in claim 3, it is characterised in that the 5th drive mechanism includes the horizontally disposed 5th electricity
Machine and the 5th gear frame, the 5th motor are installed on the 6th gear frame, the 5th gear frame and the described 5th
The output shaft of motor is fixedly connected.
5. mechanical arm as claimed in claim 4, it is characterised in that the 4th motor is fixed on the 5th gear frame,
The holding device includes holding out against wheel and fixing axle, and the fixing axle is fixed on the 5th gear frame, described to hold out against wheel
Revolvably it is sheathed in the fixing axle.
6. mechanical arm as claimed in claim 5, it is characterised in that the 4th drive mechanism also include the 4th gear frame and
Rotating shaft, the rotating shaft are fixedly connected with the vertical bevel gear, and the rotating shaft is rotatably fed through the 5th gear frame
Bottom, and be fixedly connected with the top of the 4th gear frame；Top of the output also with the 4th gear frame is fixed
Connection.
7. mechanical arm as claimed in claim 6, it is characterised in that the 3rd drive mechanism includes the 3rd vertically arranged electricity
Machine and the 3rd gear frame, the 3rd motor are fixed on the bottom of the 4th gear frame, the 3rd gear frame with it is described
The output shaft of 3rd motor is fixedly connected.
8. mechanical arm as claimed in claim 7, it is characterised in that second drive mechanism includes the horizontally disposed second electricity
Machine and the second gear frame, second gear frame are located at the lower section of the 3rd gear frame；Second gear frame has the
Two mounting grooves, second motor are fixedly installed in second mounting groove, and the output shaft of second motor passes described
One cell wall of the second mounting groove, and be fixedly connected with the 3rd gear frame, opened up on another cell wall of second mounting groove
There is the second through hole, the second projection, second projection are extended in the position that the 3rd gear frame corresponds to second through hole
Stretch into second through hole.
9. mechanical arm as claimed in claim 8, it is characterised in that first drive mechanism includes the first vertically arranged electricity
Machine, first motor are fixed on the bottom of second gear frame, and output shaft and the connector of first motor are consolidated
Fixed connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710480042.3A CN107414809B (en) | 2017-06-20 | 2017-06-20 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710480042.3A CN107414809B (en) | 2017-06-20 | 2017-06-20 | Mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107414809A true CN107414809A (en) | 2017-12-01 |
| CN107414809B CN107414809B (en) | 2023-07-04 |
Family
ID=60427336
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710480042.3A Active CN107414809B (en) | 2017-06-20 | 2017-06-20 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107414809B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113910213A (en) * | 2021-12-14 | 2022-01-11 | 深圳市迈步机器人科技有限公司 | Robot integrated driving flexible driver and driving method thereof |
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| WO2017056704A1 (en) * | 2015-10-01 | 2017-04-06 | ソニー株式会社 | Medical support arm device and medical system |
| CN207044171U (en) * | 2017-06-20 | 2018-02-27 | 深圳市迈步机器人科技有限公司 | A kind of mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103029125A (en) * | 2011-09-30 | 2013-04-10 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| CN104440873A (en) * | 2014-11-03 | 2015-03-25 | 贵州亿丰升华科技机器人有限公司 | Robot arm with six degrees of freedom |
| WO2017056704A1 (en) * | 2015-10-01 | 2017-04-06 | ソニー株式会社 | Medical support arm device and medical system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113910213A (en) * | 2021-12-14 | 2022-01-11 | 深圳市迈步机器人科技有限公司 | Robot integrated driving flexible driver and driving method thereof |
| CN113910213B (en) * | 2021-12-14 | 2022-03-11 | 深圳市迈步机器人科技有限公司 | Robot integrated driving flexible driver and driving method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107414809B (en) | 2023-07-04 |
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